SoroushVahidi/scidocs huggingface dataset:
Deep Neural Network Based Subspace Learning of Robotic Manipulator Workspace Mapping
(2018)

The manipulator workspace mapping is an important problem in robotics and has attracted significant attention in the community. However, most of the pre-existing algorithms have expensive time complexity due to the reliance on sophisticated kinematic equations. To solve this problem, this paper introduces subspace learning (SL), a variant of subspace embedding, where a set of robot and scope parameters is mapped to the corresponding workspace by a deep neural network (DNN). Trained on a large dataset of around 6× 10 samples obtained from a MATLAB R © implementation of a classical method and sampling of designed uniform distributions, the experiments demonstrate that the embedding significantly reduces run-time from 5.23× 10 s of traditional discretization method to 0.224 s, with high accuracies (average F-measure is 0.9665 with batch gradient descent and resilient backpropagation).
Grasping the Intentions of Others: The Perceived Intentionality of an Action Influences Activity in the Superior Temporal Sulcus during Social Perception
(2004)

An explication of the neural substrates for social perception is an important component in the emerging field of social cognitive neuroscience and is relevant to the field of cognitive neuroscience as a whole. Prior studies from our laboratory have demonstrated that passive viewing of biological motion (Pelphrey, Mitchell, et al., 2003; Puce et al., 1998) activates the posterior superior temporal sulcus (STS) region. Furthermore, recent evidence has shown that the perceived context of observed gaze shifts (Pelphrey, Singerman, et al., 2003; Pelphrey et al., 2004) modulates STS activity. Here, using event-related functional magnetic resonance imaging at 4 T, we investigated brain activity in response to passive viewing of goal- and non-goal- directed reaching-to-grasp movements. Participants viewed an animated character making reaching-to-grasp movements either toward (correct) or away (incorrect) from a blinking dial. Both conditions evoked significant posterior STS activity that was strongly right lateralized. By examining the time course of the blood oxygenation level-dependent response from areas of activation, we observed a functional dissociation. Incorrect trials evoked significantly greater activity in the STS than did correct trials, while an area posterior and inferior to the STS (likely corresponding to the MT/V5 complex) responded equally to correct and incorrect movements. Parietal cortical regions, including the superior parietal lobule and the anterior intraparietal sulcus, also responded equally to correct and incorrect movements, but showed evidence for differential responding based on the hand and arm (left or right) of the animated character used to make the reaching-to-grasp movement. The results of this study further suggest that a region of the right posterior STS is involved in analyzing the intentions of other people's actions and that activity in this region is sensitive to the context of observed biological motions.
Modeling Avoidance in Mood and Anxiety Disorders Using Reinforcement Learning
(2017)

BACKGROUND
Serious and debilitating symptoms of anxiety are the most common mental health problem worldwide, accounting for around 5% of all adult years lived with disability in the developed world. Avoidance behavior-avoiding social situations for fear of embarrassment, for instance-is a core feature of such anxiety. However, as for many other psychiatric symptoms the biological mechanisms underlying avoidance remain unclear.


METHODS
Reinforcement learning models provide formal and testable characterizations of the mechanisms of decision making; here, we examine avoidance in these terms. A total of 101 healthy participants and individuals with mood and anxiety disorders completed an approach-avoidance go/no-go task under stress induced by threat of unpredictable shock.


RESULTS
We show an increased reliance in the mood and anxiety group on a parameter of our reinforcement learning model that characterizes a prepotent (pavlovian) bias to withhold responding in the face of negative outcomes. This was particularly the case when the mood and anxiety group was under stress.


CONCLUSIONS
This formal description of avoidance within the reinforcement learning framework provides a new means of linking clinical symptoms with biophysically plausible models of neural circuitry and, as such, takes us closer to a mechanistic understanding of mood and anxiety disorders.
Semantic Annotation and Reasoning for Sensor Data
(2009)

Developments in (wireless) sensor and actuator networks and the capabilities to manufacture low cost and energy efficient networked embedded devices have lead to considerable interest in adding real world sense to the Internet and the Web. Recent work has raised the idea towards combining the Internet of Things (i.e. real world resources) with semantic Web technologies to design future service and applications for the Web. In this paper we focus on the current developments and discussions on designing Semantic Sensor Web, particularly, we advocate the idea of semantic annotation with the existing authoritative data published on the semantic Web. Through illustrative examples, we demonstrate how rule-based reasoning can be performed over the sensor observation and measurement data and linked data to derive additional or approximate knowledge. Furthermore, we discuss the association between sensor data, the semantic Web, and the social Web which enable construction of context-aware applications and services, and contribute to construction of a networked knowledge framework.
The SSN ontology of the W3C semantic sensor network incubator group
(2012)

The W3C Semantic Sensor Network Incubator group (the SSN-XG) produced an OWL 2 ontology to describe sensors and observations — the SSN ontology, available at http://purl.oclc.org/NET/ssnx/ssn. The SSN ontology can describe sensors in terms of capabilities, measurement processes, observations and deployments. This article describes the SSN ontology. It further gives an example and describes the use of the ontology in recent research projects.
SemSOS: Semantic sensor Observation Service
(2009)

Sensor Observation Service (SOS) is a Web service specification defined by the Open Geospatial Consortium (OGC) Sensor Web Enablement (SWE) group in order to standardize the way sensors and sensor data are discovered and accessed on the Web. This standard goes a long way in providing interoperability between repositories of heterogeneous sensor data and applications that use this data. Many of these applications, however, are ill equipped at handling raw sensor data as provided by SOS and require actionable knowledge of the environment in order to be practically useful. There are two approaches to deal with this obstacle, make the applications smarter or make the data smarter. We propose the latter option and accomplish this by leveraging semantic technologies in order to provide and apply more meaningful representation of sensor data. More specifically, we are modeling the domain of sensors and sensor observations in a suite of ontologies, adding semantic annotations to the sensor data, using the ontology models to reason over sensor observations, and extending an open source SOS implementation with our semantic knowledge base. This semantically enabled SOS, or SemSOS, provides the ability to query high-level knowledge of the environment as well as low-level raw sensor data.
New Generation Sensor Web Enablement
(2011)

Many sensor networks have been deployed to monitor Earth's environment, and more will follow in the future. Environmental sensors have improved continuously by becoming smaller, cheaper, and more intelligent. Due to the large number of sensor manufacturers and differing accompanying protocols, integrating diverse sensors into observation systems is not straightforward. A coherent infrastructure is needed to treat sensors in an interoperable, platform-independent and uniform way. The concept of the Sensor Web reflects such a kind of infrastructure for sharing, finding, and accessing sensors and their data across different applications. It hides the heterogeneous sensor hardware and communication protocols from the applications built on top of it. The Sensor Web Enablement initiative of the Open Geospatial Consortium standardizes web service interfaces and data encodings which can be used as building blocks for a Sensor Web. This article illustrates and analyzes the recent developments of the new generation of the Sensor Web Enablement specification framework. Further, we relate the Sensor Web to other emerging concepts such as the Web of Things and point out challenges and resulting future work topics for research on Sensor Web Enablement.
An Internet of Things Platform for Real-World and Digital Objects
(2012)

The vision of the Internet of Things (IoT) relies on the provisioning of real-world services, which are provided by smart objects that are directly related to the physical world. A structured, machine-processible approach to provision such real-world services is needed to make heterogeneous physical objects accessible on a large scale and to integrate them with the digital world. The incorporation of observation and measurement data obtained from the physical objects with the Web data, using information processing and knowledge engineering methods, enables the construction of ”intelligent and interconnected things”. The current research mostly focuses on the communication and networking aspects between the devices that are used for sensing amd measurement of the real world objects. There is, however, relatively less effort concentrated on creating dynamic infrastructures to support integration of the data into the Web and provide unified access to such data on service and application levels. This paper presents a semantic modelling and linked data approach to create an information framework for IoT. The paper describes a platform to publish instances of the IoT related resources and entities and to link them to existing resources on the Web. The developed platform supports publication of extensible and interoperable descriptions in the form of linked data.
metaSEM: an R package for meta-analysis using structural equation modeling
(2014)

The metaSEM package provides functions to conduct univariate, multivariate, and three-level meta-analyses using a structural equation modeling (SEM) approach via the OpenMx package in the R statistical platform. It also implements the two-stage SEM approach to conducting fixed- and random-effects meta-analytic SEM on correlation or covariance matrices. This paper briefly outlines the theories and their implementations. It provides a summary on how meta-analyses can be formulated as structural equation models. The paper closes with a conclusion on several relevant topics to this SEM-based meta-analysis. Several examples are used to illustrate the procedures in the supplementary material.
User-friendly 3D object manipulation gesture using kinect
(2013)

With the rapid development and wide spread of the virtual reality technology, we can easily find VR systems in various places such as school, library and home. Translation and rotation, the most frequently used gestures for manipulating objects in the real world, need to be implemented in order to make a user feel comfortable while manipulating 3D objects in the systems. In this paper, we propose a set of user-friendly 3D object manipulation gestures and develop a recognizer using Kinect for the VR systems. The usefulness and suitableness of the proposed system is shown from the user study performed.
SmartPhoto: A Resource-Aware Crowdsourcing Approach for Image Sensing with Smartphones
(2014)

Photos obtained via crowdsourcing can be used in many critical applications. Due to the limitations of communication bandwidth, storage and processing capability, it is a challenge to transfer the huge amount of crowdsourced photos. To address this problem, we propose a framework, called SmartPhoto, to quantify the quality (utility) of crowdsourced photos based on the accessible geographical and geometrical information (called metadata) including the smartphone's orientation, position and all related parameters of the built-in camera. From the metadata, we can infer where and how the photo is taken, and then only transmit the most useful photos. Three optimization problems regarding the tradeoffs between photo utility and resource constraints, namely the Max-Utility problem, the online Max-Utility problem and the Min-Selection problem, are studied. Efficient algorithms are proposed and their performance bounds are theoretically proved. We have implemented SmartPhoto in a testbed using Android based smartphones, and proposed techniques to improve the accuracy of the collected metadata by reducing sensor reading errors and solving object occlusion issues. Results based on real implementations and extensive simulations demonstrate the effectiveness of the proposed algorithms.
Ambiguity as a resource for design
(2003)

Ambiguity is usually considered anathema in Human Computer Interaction. We argue, in contrast, that it is a resource for design that can be used to encourage close personal engagement with systems. We illustrate this with examples from contemporary arts and design practice, and distinguish three broad classes of ambiguity according to where uncertainty is located in the interpretative relationship linking person and artefact. Ambiguity of information finds its source in the artefact itself, ambiguity of context in the sociocultural discourses that are used to interpret it, and ambiguity of relationship in the interpretative and evaluative stance of the individual. For each of these categories, we describe tactics for emphasising ambiguity that may help designers and other practitioners understand and craft its use.
Robust Multi-pose Facial Expression Recognition
(2014)

Previous research on facial expression recognition mainly focuses on near frontal face images, while in realistic interactive scenarios, the interested subjects may appear in arbitrary non-frontal poses. In this paper, we propose a framework to recognize six prototypical facial expressions, namely, anger, disgust, fear, joy, sadness and surprise, in an arbitrary head pose. We build a multi-pose training set by rendering 3D face scans from the BU-4DFE dynamic facial expression database [17] at 49 different viewpoints. We extract Local Binary Pattern (LBP) descriptors and further utilize multiple instance learning to mitigate the influence of inaccurate alignment in this challenging task. Experimental results demonstrate the power and validate the effectiveness of the proposed multi-pose facial expression recognition framework.
Microservices validation: Mjolnirr platform case study
(2015)

Microservice architecture is a cloud application design pattern that implies that the application is divided into a number of small independent services, each of which is responsible for implementing of a certain feature. The need for continuous integration of developed and/or modified microservices in the existing system requires a comprehensive validation of individual microservices and their co-operation as an ensemble with other microservices. In this paper, we would provide an analysis of existing methods of cloud applications testing and identify features that are specific to the microservice architecture. Based on this analysis, we will try to propose a validation methodology of the microservice systems.
Robust Nonrigid Registration by Convex Optimization
(2015)

We present an approach to nonrigid registration of 3D surfaces. We cast isometric embedding as MRF optimization and apply efficient global optimization algorithms based on linear programming relaxations. The Markov random field perspective suggests a natural connection with robust statistics and motivates robust forms of the intrinsic distortion functional. Our approach outperforms a large body of prior work by a significant margin, increasing registration precision on real data by a factor of 3.
Active Damping in DC/DC Power Electronic Converters: A Novel Method to Overcome the Problems of Constant Power Loads
(2009)

Multi-converter power electronic systems exist in land, sea, air, and space vehicles. In these systems, load converters exhibit constant power load (CPL) behavior for the feeder converters and tend to destabilize the system. In this paper, the implementation of novel active-damping techniques on dc/dc converters has been shown. Moreover, the proposed active-damping method is used to overcome the negative impedance instability problem caused by the CPLs. The effectiveness of the new proposed approach has been verified by PSpice simulations and experimental results.
Extracting Social Structures from Conversations in Twitter: A Case Study on Health-Related Posts
(2016)

Online Social Networks (e.g., Twitter, Facebook) have dramatically grown in usage and popularity in recent years. In addition to keeping track of friends and acquaintances, these networks provide powerful means of exchanging and sharing information on many different topics of interest (e.g., sports, religion, politics, health concerns, etc.). Moreover, the use of these networks has introduced a completely new way of collaboration among people, virtually creating spheres of friends who generally feel comfortable discussing a variety of subjects and even helping each other to grow in knowledge about certain subjects. In this work, we built and analyzed networks of social groups on Twitter related to the top leading causes of death in the United States. Due to space limitations, we present results for the state of Florida and only for the top four leading causes of death. We show that using a concept of time window in the creation of relations between users, we can reconstruct social networks for these conversations and these networks have characteristics that are similar to typical social networks. The argument is that social network information can be extracted even in cases where users are not directly talking to each other (as it is the case in most of Twitter).
HCI and Autonomous Vehicles: Contextual Experience Informs Design
(2016)

The interaction between drivers and their cars will change significantly with the introduction of autonomous vehicles. The driver's role will shift towards a supervisory control of their autonomous vehicle. The eventual relief from the driving task enables a complete new area of research and practice in human-computer interaction and interaction design. In this one-day workshop, participants will explore the opportunities the design space of autonomous driving will bring to HCI researchers and designers. On the day before workshop participants are invited to visit (together with workshop organizers) Google Partnerplex and Stanford University. At Google participants will have the opportunity to explore Google's autonomous car simulator and might have the chance to experience one of the Google Cars (if available). At Stanford participants are invited to ride in a Wizard-of-Oz autonomous vehicle. Based on this first-hand experience we will discuss design approaches and prototype interaction systems during the next day's workshop. The outcome of this workshop will be a set of concepts, interaction sketches, and low-fidelity paper prototypes that address constraints and potentials of driving in an autonomous car.
Using BabelNet to Improve OOV Coverage in SMT
(2016)

Out-of-vocabulary words (OOVs) are a ubiquitous and difficult problem in statistical machine translation (SMT). This paper studies different strategies of using BabelNet to alleviate the negative impact brought about by OOVs. BabelNet is a multilingual encyclopedic dictionary and a semantic network, which not only includes lexicographic and encyclopedic terms, but connects concepts and named entities in a very large network of semantic relations. By taking advantage of the knowledge in BabelNet, three different methods – using direct training data, domain-adaptation techniques and the BabelNet API – are proposed in this paper to obtain translations for OOVs to improve system performance. Experimental results on English–Polish and English–Chinese language pairs show that domain adaptation can better utilize BabelNet knowledge and performs better than other methods. The results also demonstrate that BabelNet is a really useful tool for improving translation performance of SMT systems.
Path selection based on local terrain feature for unmanned ground vehicle in unknown rough terrain environment
(2013)

In this paper, we propose an autonomous navigation for Unmanned Ground Vehicles (UGVs) by a path selection method based on local features of terrain in unknown outdoor rough terrain environment. The correlation between a local terrain feature obtained from a path and a value of the path obtained from the global path planning is extracted in advance. When UGV comes to a branch while it is running, the value of path is estimated using the correlation with local terrain feature. Thereby, UGV navigation is performed by path selection under the criterion of shortest time in unknown outdoor environment. We experimented on a simulator and confirmed that the proposed method can select more effective paths in comparison with a simple path selection method.
Behavioral Cloning from Observation
(2018)

Humans often learn how to perform tasks via imitation: they observe others perform a task, and then very quickly infer the appropriate actions to take based on their observations. While extending this paradigm to autonomous agents is a wellstudied problem in general, there are two particular aspects that have largely been overlooked: (1) that the learning is done from observation only (i.e., without explicit action information), and (2) that the learning is typically done very quickly. In this work, we propose a two-phase, autonomous imitation learning technique called behavioral cloning from observation (BCO), that aims to provide improved performance with respect to both of these aspects. First, we allow the agent to acquire experience in a self-supervised fashion. This experience is used to develop a model which is then utilized to learn a particular task by observing an expert perform that task without the knowledge of the specific actions taken. We experimentally compare BCO to imitation learning methods, including the state-of-the-art, generative adversarial imitation learning (GAIL) technique, and we show comparable task performance in several different simulation domains while exhibiting increased learning speed after expert trajectories become available.
Inference Over Distribution of Posterior Class Probabilities for Reliable Bayesian Classification and Object-Level Perception
(2018)

State of the art Bayesian classification approaches typically maintain a posterior distribution over possible classes given available sensor observations (images). Yet, while these approaches fuse all classifier outputs thus far, they do not provide any indication regarding how reliable the posterior classification is, thus limiting its functionality in terms of autonomous systems and robotics. On the other hand, current deep learning based classifiers provide an uncertainty measure, thereby quantifying model uncertainty. However, they do so on a single frame basis and do not consider a sequential framework. In this letter, we develop a novel approach that infers a distribution over posterior class probabilities, while accounting for model uncertainty. This distribution enables reasoning about uncertainty in the posterior classification and, therefore, is of prime importance for robust classification, object-level perception in uncertain and ambiguous scenarios, and for safe autonomy in general. The distribution of the posterior class probability has no known analytical solution; thus, we propose to approximate this distribution via sampling. We evaluate our approach in simulation and using real images fed into a convolutional neural network classifier.